Vibration characteristic is one of the most important properties for structures and mechanical systems. Transfer matrix method for linear multibody systems (linear MSTMM) is an efficient approach to computing the vibration characteristics of such systems due to its following features: easy to formulate, high programming, and low-order matrix without system global dynamic equations. In this work, a vibration characteristic solver based on linear MSTMM is developed by adopting object-oriented programming (OOP) technique. Binary tree is employed to describe multibody system topology. Then, a novel approach combining sequence and chain storage structures is proposed to store the element data and topology of multibody system. A recursive formula is proposed to derive the overall transfer matrix of multibody system, and its automatic deduction and computation by computer are achieved. The object-oriented framework of the solver is developed to realize the vibration characteristic computation. Furthermore, the numerical study for a Stewart parallel mechanism as well as the practical engineering example of an ultra-precision fly cutting machine tool are performed to validate the solver.

振动特性是结构和机械系统最重要的特性之一。线性多体系统的传递矩阵方法（线性MSTMM）由于具有以下特征而成为计算此类系统振动特性的有效方法：易于公式化，高编程性且无需系统全局动力学方程的低阶矩阵。在这项工作中，通过采用面向对象编程（OOP）技术开发了基于线性MSTMM的振动特性求解器。二叉树被用来描述多体系统拓扑。然后，提出了一种结合序列和链存储结构的新方法来存储多体系统的元素数据和拓扑。提出了一个递推公式来推导多体系统的整体传递矩阵，并实现了计算机的自动演算。开发了求解器的面向对象框架，以实现振动特性计算。此外，还进行了Stewart并联机构的数值研究以及超精密飞刀切割机床的实际工程实例，以验证求解器。